| MEMS陀螺仪随机误差滤波 |
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| 引用本文： | 陈殿生,邵志浩,雷旭升,王田苗.MEMS陀螺仪随机误差滤波[J].北京航空航天大学学报,2009,35(2):246-250. |
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| 作者姓名： | 陈殿生 邵志浩 雷旭升 王田苗 |
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| 作者单位： | 北京航空航天大学机械工程及自动化学院,北京,100191;北京航空航天大学仪器科学与光电工程学院,北京,100191 |
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| 基金项目： | 国家杰出青年科学基金资助项目(60525314);;国家863计划资助项目(2007AA04Z250,2006AA04Z206);;国际科技合作资助项目(2008DFR70100) |
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| 摘 要： | 针对微机电系统(MEMS,Micro Electromechanical System)陀螺仪的随机漂移,基于小波多尺度分析,利用bior1.5小波对陀螺仪的随机漂移进行深度为4的分解,重建各尺度信号,采用时间序列方法对陀螺仪各尺度随机漂移进行建模,与传统时间序列方法建模相比,降低了模型的预测误差.并构建了模糊自适应Kalman滤波,利用模糊控制方法基于残差均值与方差差值对噪声方差阵进行实时调整,提高对重建后的各尺度信号随机噪声滤波效果.通过一系列对比实验证明,基于多尺度分析的模糊自适应Kalman滤波对于消除MEMS陀螺仪随机漂移误差作用明显.通过Allan方差分析,滤波后的数据各随机误差项均得到有效减小.
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| 关 键 词： | 陀螺仪 随机误差 小波分析 Kalman滤波 模糊控制 |
| 收稿时间： | 2008-07-20 |
Multiscale fyzzy-adaptive Kalman filtering methods for MEMS gyros random drift |
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| Chen Diansheng,Shao Zhihao,Lei Xusheng,Wang Tianmiao.Multiscale fyzzy-adaptive Kalman filtering methods for MEMS gyros random drift[J].Journal of Beijing University of Aeronautics and Astronautics,2009,35(2):246-250. |
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| Authors: | Chen Diansheng Shao Zhihao Lei Xusheng Wang Tianmiao |
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| Institution: | 1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
2. School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China |
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| Abstract: | A new time series method was proposed to construct the random drift model for the micro electro mechanical sensor(MEMS) gyro.Based on the wavelet multi scale analysis method,the gyro random drift data was decomposed to a series of scale gyro drift data with depth of 4 using bior1.5 wavelet,each scale signal was rebuilt and then constructed the corresponding multi scale time series models to reduce the overall predict error.Moreover,an adaptive Kalman filter algorithm was proposed to improve the compensation... |
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| Keywords: | gyroscopes random errors wavelet analysis Kalman filter fuzzy control |
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